We use data from [1]} for Push. We collect 256 and 162 demonstrations respectively for Reach and Peg in Box. For Reach, we use 18 visually distinct goal position markers i.e. 3 different shapes and each shape with 6 different colors in order to ensure visual diversity. Reach demonstrations have minimum, average and maximum demonstration lengths of \(1.76\)  seconds, \(4.51\)  seconds and \(9.23\)  seconds respectively. For Peg in Box, we use 4 visually distinct objects. In this case, the minimum, average and maximum demonstration lengths are \(1.73\)  seconds, \(4.74\)  seconds and \(11.7\)  seconds respectively. For both Reach and Peg in Box, the goal and object positions are also varied across demonstrations to diversify trajectories. Please see https://sateeshkumar21.github.io/GraphIRL/ for examples of collected demonstrations.
